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package eaglesfe.skystone.opmodes.autonomous;

import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;

import java.util.HashMap;
import java.util.Map;

import eaglesfe.common.Step;
import eaglesfe.common.Steps;
import eaglesfe.skystone.skystoneRobot;

@Autonomous(name="yeetus defeatus", group = "test auto" )
public class Yeet extends LinearOpMode {

    @Override
    public void runOpMode() {

        final skystoneRobot robot = new skystoneRobot(hardwareMap);

        Map<String, Step> steps = new HashMap<>();
        steps.put("start", new Step("not souptastic") {
            @Override
            public void enter() {
                robot.setIntakeServos(false, true);
                robot.setArmPosition(-.4, .1);
            }

            @Override
            public boolean isFinished() {
                return robot.drive.straightMove(12, .333, Yeet.this);
            }

            @Override
            public String leave() {
                return "ebgin";
            }
        });
        steps.put("ebgin", new Step("not souptastic") {
            @Override
            public void enter() {
                robot.setIntakeSpeed(1);
            }

            @Override
            public boolean isFinished() {
                return robot.suckStraight(.35, Yeet.this);
            }

            @Override
            public String leave() {
                robot.setIntakeSpeed(0);
                return "ebgin1";
            }
        });
        steps.put("ebgin1", new Step("not souptastic") {
            @Override
            public void enter() {
            }

            @Override
            public boolean isFinished() {
                return robot.drive.straightMove(-30, .333, Yeet.this);
            }

            @Override
            public String leave() {
                return "ebgin2";
            }
        });
        steps.put("ebgin2", new Step("not souptastic") {
            @Override
            public void enter() {
            }

            @Override
            public boolean isFinished() {
                return robot.angleTurnAbsolute(90, Yeet.this);
            }

            @Override
            public String leave() {
                return "ebgin3";
            }
        });
        steps.put("ebgin3", new Step("not souptastic") {
            @Override
            public void enter() {
                robot.setArmPosition(0.1, .25);
            }

            @Override
            public boolean isFinished() {
                return robot.drive.straightMove(55, Yeet.this);
            }

            @Override
            public String leave() {
                return "ebgin4";
            }
        });
        steps.put("ebgin4", new Step("not souptastic") {
            @Override
            public void enter() {
                robot.setIntakeServos(false, true);
                robot.setArmPosition(0.1, .25);
            }

            @Override
            public boolean isFinished() {
                return robot.angleTurnAbsolute(-0,Yeet.this);
            }

            @Override
            public String leave() {
                return "ebgin5";
            }
        });
        steps.put("ebgin5", new Step("not souptastic") {
            @Override
            public void enter() {
                robot.setIntakeServos(false, true);
                robot.setArmPosition(0.1, .1);
            }

            @Override
            public boolean isFinished() {
                return robot.corectingStrafe(2500, -.5, Yeet.this);
            }

            @Override
            public String leave() {
                return "ebgin6";
            }
        });
        steps.put("ebgin6", new Step("not souptastic") {
            @Override
            public void enter() {
                robot.setIntakeServos(false, true);
                robot.setArmPosition(0.1, .1);
            }

            @Override
            public boolean isFinished() {
                return robot.drive.straightMove(12,1,Yeet.this);
            }

            @Override
            public String leave() {
                return "ebgin7";
            }
        });
        steps.put("ebgin7", new Step("not souptastic", 10000) {
            @Override
            public void enter() {
                robot.setIntakeServos(false, true);
                robot.setArmPosition(0.1, .1);
                robot.setIntakeSpeed(-1);
            }

            @Override
            public boolean isFinished() {
                return robot.drive.straightMove(4,.1, Yeet.this);
            }

            @Override
            public String leave() {
                robot.setIntakeSpeed(0);
                return null;
            }
        });

        waitForStart();

        Steps stepsRunner = new Steps(steps, this);
        stepsRunner.runStepsMap();
    }
}